/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "uart_servo_lite.h"
#include "OLED.h"
#include "stdio.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
//舵机旋转角度选择
#define SERVO_DEGREE_0 0
#define SERVO_DEGREE_255 1
//舵机pos值设置上限
#define SERVO_POS_0 100
#define SERVO_POS_255 4000
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
//控制初始化
uint8_t sid = 1;
UART_HandleTypeDef* servoUsart = &huart1;

//数据处理初始化
char pos_string[10] = "";		//显示字符串准备
uint16_t pos = 0;				//指示角度值
uint8_t pos_deg = 0;

//舵机旋转控制
int servo_Cnt = 0;						//舵机旋转时间控制 t = servo_Cnt*1ms
int servo_select = SERVO_DEGREE_0;		//舵机旋转角度选择
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
uint8_t map_to_degrees(uint16_t pos);
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_USART1_UART_Init();
  MX_TIM2_Init();
  /* USER CODE BEGIN 2 */

  //	//简单的代码发送测试
  //	uint8_t aa = 0x5a;
  //	uint8_t byteArray[] = {1,2,3,5,6};
  //	HAL_UART_Transmit(&huart1,&aa,1,HAL_MAX_DELAY);
  //	HAL_UART_Transmit(&huart1, byteArray,5,HAL_MAX_DELAY);

  OLED_Init();
  OLED_ShowString(2, 1, "start");
  OLED_ShowString(1, 1, "pos:");

  //上电先发一条指令激活舵机
  USL_SetServoAngle(servoUsart, sid, 4096, 0);
  HAL_Delay(2000);
  USL_SetServoAngle(servoUsart, sid, 0, 0);

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  HAL_TIM_Base_Start_IT(&htim2);
  while (1)
  {

	  pos = USL_GETPositionVal(servoUsart, sid);
	  pos_deg = map_to_degrees(pos);
//	  sprintf(pos_string, "%3u", pos_deg);
//	  OLED_ShowString(1, 5, pos_string);

//	if (US_Ping(servoUsart, sid) == JOHO_STATUS_SUCCESS)
//	{
//	  USL_SetServoAngle(servoUsart, sid, 0, 2000);
//	  HAL_Delay(4000);
//	  USL_SetServoAngle(servoUsart, sid, 4095, 2000);
//	  HAL_Delay(4000);
//	}
//	USL_SetServoAngle(servoUsart, sid, 2048, 0);
//	HAL_Delay(4000);
//

//	pos = USL_GETPositionVal(servoUsart, sid);
//	if(pos < 0x15 ){HAL_Delay(6000);}
//		USL_SetServoAngle(servoUsart, sid, 4000, 0);
//		HAL_Delay(2000);
//		pos = USL_GETPositionVal(servoUsart, sid);
//	if(pos > 3900){HAL_Delay(6000);}

    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
//角度转换函数
uint8_t map_to_degrees(uint16_t pos) {
    // 输入范围检查（可选）
    if (pos < 105) return 0;
    if (pos > 3975) return 255;

    // 映射计算
    uint32_t output = (uint32_t)(pos - 105) * 255 / (3975 - 105);
    return (uint8_t)output;
}

void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim){
	if(htim == &htim2)
	{
		//TIM2定时器的计数周期为1ms
		servo_Cnt ++;
		if(servo_Cnt == 2000){
			if(servo_select == SERVO_DEGREE_255){
				USL_SetServoAngle(servoUsart, sid, SERVO_POS_255, 0);
				servo_select = SERVO_DEGREE_0;
			}
			else if(servo_select == SERVO_DEGREE_0){
				USL_SetServoAngle(servoUsart, sid, SERVO_POS_0, 0);
				servo_select = SERVO_DEGREE_255;
			}
			servo_Cnt = 0;
		}

	}
}


/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
